US8364239B2 - Method for providing information of a locally resolved reconstruction quality of a target volume in a three-dimensional reconstruction volume presentation - Google Patents

Method for providing information of a locally resolved reconstruction quality of a target volume in a three-dimensional reconstruction volume presentation Download PDF

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US8364239B2
US8364239B2 US11/725,377 US72537707A US8364239B2 US 8364239 B2 US8364239 B2 US 8364239B2 US 72537707 A US72537707 A US 72537707A US 8364239 B2 US8364239 B2 US 8364239B2
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volume
reconstruction
coverage
image
dimensional reconstruction
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US20070238964A1 (en
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Matthias John
Norbert Rahn
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Siemens Healthcare GmbH
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/02—Arrangements for diagnosis sequentially in different planes; Stereoscopic radiation diagnosis
    • A61B6/03—Computed tomography [CT]
    • A61B6/032—Transmission computed tomography [CT]
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/12—Diagnosis using ultrasonic, sonic or infrasonic waves in body cavities or body tracts, e.g. by using catheters
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/52—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/5215—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves involving processing of medical diagnostic data
    • A61B8/5238—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves involving processing of medical diagnostic data for combining image data of patient, e.g. merging several images from different acquisition modes into one image
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T11/00—2D [Two Dimensional] image generation
    • G06T11/003—Reconstruction from projections, e.g. tomography
    • G06T11/008—Specific post-processing after tomographic reconstruction, e.g. voxelisation, metal artifact correction

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  • the invention relates to a method for locally-resolved visualization of the reconstruction quality, especially of the coverage of a target volume to be recorded as an image and reproduced in a three-dimensional reconstruction volume presentation, especially in the human body, by two-dimensional and/or three-dimensional images covering subareas of the volume recorded by a recording device disposed within the target volume, with which the three-dimensional reconstruction volume presentation is created.
  • An image recording device generally a medical device comprising an ultrasound device or an OCT device, is introduced into the body in such cases.
  • These medical devices which in particular can be catheters, are then moved within the interior of the hollow organ and different two-dimensional images, mostly sectional images, or three-dimensional images are recorded at different positions and with different orientations.
  • Three-dimensional images are also recorded if for example a recording device for recording two-dimensional images is continuously rotated.
  • the axis of rotation can either be in the direction of the sound or at right angles to it.
  • a three-dimensional subvolume in the shape of a sphere in the second case a three-dimensional subvolume, the cross section of which is in the shape of a butterfly, is recorded.
  • a three-dimensional reconstruction volume can be created from these two-dimensional or three-dimensional recordings of partial areas of the volume of interest, in this case a hollow organ.
  • the medical device can be connected to a positioning system, by which the position and orientation of the individual images relative to one another can be determined.
  • a three-dimensional first data set or a three-dimensional first reconstruction respectively it is possible for a three-dimensional first data set or a three-dimensional first reconstruction respectively to already be available, which has been recorded from outside using another modality, for example a magnetic resonance image data set or a computer tomography 3D image data set. The images can be registered with this first image data. In this way too the position or orientation respectively of the individual images relative to one another is obtained.
  • the object underlying the invention is thus to specify a method which provides a user with additional information for three-dimensional reconstruction volume presentation.
  • the inventive method to first determine which subarea of the target volume the individual images cover. This is possible on the basis of the position information and orientation information which can be obtained in the ways mentioned in the introduction, namely through registration with a three-dimensional first reconstruction or a positioning system or navigation system respectively, as well as from knowledge of the characteristics of the image recording device.
  • the individual subareas can be converted directly into a locally-resolved presentation of the coverage.
  • it is also possible to determine the reconstruction quality for each location in the reconstruction volume not only with reference to a yes-no decision, i.e. whether the area is covered by an image or not, but to create a value which also reflects the interpolation quality at this point.
  • a location of the reconstruction volume may not itself be covered by an image; there are many adjacent images so that there is likely to be a good interpolation which can be shown in the presentation of the reconstruction quality.
  • the presentation of the reconstruction quality can be output as a separate presentation within the reconstruction volume presentation itself, or in an external presentation, which will be dealt with in greater detail below.
  • the inventive method thus advantageously provides the person recording the images with further information which lets them recognize, on a locally-resolved basis for the overall reconstruction volume, which value the reconstruction volume presentation actually has at this point.
  • information can be displayed during a medical process showing whether specific areas of a hollow organ have not been recorded, so that changes to this organ caused by disease would not be detectable for example.
  • An image can then be recorded subsequently, or if the method is executed in real time, the image recording device can be controlled so that these areas are recorded again.
  • a complete and high-quality reconstruction volume presentation is obtained, since it is possible to achieve a sufficiently dense coverage of the target volume by the subareas of the individual images.
  • the visual locally-resolved presentation of the reconstruction quality for this to be able to be placed for the user in a unique relationship with the target volume. This can be achieved in particular by the spatial arrangement of the information presented which corresponds to that in the target volume. For example in this case the previous reconstruction volume and the presentation of the reconstruction quality can be shown alongside each other in the same alignment and the same size so that it is visible at a glance where a low reconstruction quality or no coverage is present and where a high reconstruction quality or coverage is present.
  • a coverage volume to be created with the dimensions of the reconstruction volume, with each voxel of the reconstruction volume being assigned to a voxel of the coverage volume, each voxel of the coverage volume being assigned a value indicating the reconstruction quality depending on the coverage, taking into account the coverage area of each image, and for the coverage volume to be at least partly shown, with the presentation being based on the values.
  • a coverage volume with the dimensions of the reconstruction volume is first created, meaning that the coverage volume covers the same area as the reconstruction volume, consequently the target volume. This is expressed by the fact that a voxel of the coverage volume is assigned to each voxel of the reconstruction volume.
  • a number of voxels of the reconstruction volume can be assigned to a single voxel of the coverage volume, which produces a coarsening of the presentation. This can reduce computation times where necessary.
  • Each voxel of the coverage volume is then assigned, taking into account the coverage area of each image, a value indicating the reconstruction quality depending on the coverage or the value indicating the coverage.
  • This value can for example be a grayscale value or another value already able to be used later in a presentation. It is then especially simple to present the coverage volume since it principally then just represents a three-dimensional image of which the image information is the reconstruction quality, especially the coverage.
  • the values are presented for display immediately in this variant. It is of course also possible to have the coverage volume only partly displayed, for a specific “region of interest” (ROI) for example.
  • ROI region of interest
  • the type of visual locally-resolved presentation of the reconstruction quality can be designed in a multiplicity of ways. Initially it can prove expedient for all subareas covered by at least one image to be displayed so they can be distinguished from non-covered areas, especially the value of a complete coverage if the corresponding voxel of the reconstruction volume is covered by at least one image. A voxel is covered by an image in this case if image data is present for the location described by the voxel. This value or the form of the presentation respectively which shows a location which lies in a subarea covered by an image is then uniquely assigned to this characteristic of the location or of the voxel respectively. The subareas which are covered by images are consequently clearly recognizable in the presentation. On a gray value scale this type of presentation or the value can correspond to the deepest possible black.
  • the subareas covered by a number of images can be presented to indicate the multiple coverage, especially for a value indicating the multiple coverage to be assigned to their voxels.
  • this presentation it can consequently also be recognized how often a specific point in the target volume has already been recorded.
  • the recording of images is a measurement which itself has a certain imprecision.
  • the reconstruction quality can be further improved by a multiple image recording.
  • a voxel which is covered by at least one image can be assigned the value “1”
  • a voxel which is not covered by an image can be assigned the value “0”.
  • This simple binary distinction can even be displayed in a black-and-white presentation.
  • each voxel covered by at least one image of the reconstruction volume can be assigned a grayscale sphere described by a function, especially a Gaussian sphere in the coverage volume, with the maximum grayscale value of the function lying in this voxel, after which each voxel of the coverage volume will be assigned the maximum of the greyscale values of all functions of the voxels covered by at least one image in the currently observed voxel as a value.
  • Grayscale values in this case extend from a minimum value to a maximum value, especially from 0 to 1.1 can for example especially advantageously be selected as the maximum value.
  • This value is then automatically assigned to each voxel covered by an image since the maximum of the grayscale sphere is to come to rest in precisely this voxel and the maximum is also selected as the greatest value at this point. Neighboring voxels then have a lower grayscale value, adjacent voxels outwards in their turn an even lower grayscale value, etc.
  • the grayscale value specified by the grayscale value function thus drops as the distance of a voxel from a voxel covered by the image increases. This illustrates the lower reconstruction quality which can be achieved by interpolation.
  • each voxel of the coverage volume is again considered individually. If there is a specific number, for example n, of voxels covered by the image, n grayscale value functions f 1 , f 2 , . . . ,fn are now defined on the coverage volume.
  • ,fn (x, y, z) ⁇ is now determined for a voxel (x, y, z) of the coverage volume. This value is assigned to the voxel in the coverage volume. It then indicates whether the observed voxel (x, y, z) is covered (maximum grayscale value, especially 1) or how near the voxel (x, y, z) lies to the closest voxel covered by the image.
  • the presentation of the reconstruction quality i.e. of the coverage volume, can then also be a grayscale representation, with white meaning far away from a voxel covered by an image and black meaning coverage by an image, or vice-versa. Other types of presentation are however also conceivable which reflect a variation between a minimum and a maximum grayscale value, for example colored representations using a color spectrum, monochrome representations, height lines etc.
  • Such an assignment of grayscale values or values does not absolutely have to be based on a maximum of the grayscale function values. It is also conceivable for the values of the grayscale functions to be simply added for each voxel and the value distribution produced in its turn to be standardized to a grayscale distribution. Multiple coverages are also detected in this variant, however it can no longer be uniquely established whether a voxel is now actually covered by at least one image or not.
  • the method can be performed especially advantageously in real time.
  • the user is thus informed during the recording as to the areas which are not or are not sufficiently detected, so that the image recording device can then be moved within the target volume to the position in which it can record the non-covered subareas of the target volume.
  • Provision can thus be made for the position and/or orientation of the image recording device to be shown together with the presentation of the reconstruction quality, especially with the coverage volume.
  • the position and/or orientation of the image recording device can be presented in different ways within the presentation of the reconstruction quality. To this end it is necessary to know the position and/or orientation of the image recording device in the three-dimensional reconstruction volume.
  • the position and orientation can be determined from fluoroscopy images defined during the operation.
  • the recording area of the image recording device can be shown together with the presentation of the reconstruction quality, especially the coverage volume.
  • the recording area of the image recording device is the area which was covered by an image recorded at the instant in time. It can be determined from the current position and orientation of the imaging device, as described above, and for example included in the display in another color to make it easier to distinguish. This advantageously allows the user to quite explicitly create recordings in exactly the area which appears to them to have too little coverage and no coverage.
  • the area of coverage of at least one image, especially of the image or images last recorded can be shown or highlighted in the presentation.
  • the person recording the image can establish, for example when showing the coverage area of the last image recorded, whether this has actually recorded the desired area. If this is not the case they can reposition the image recording device and record a further image, from which they can once again detect whether this is filling out the gap.
  • a further more general value can also be determined, which is established on the basis of the current recording area of the image recording device and specifies the improvement of the coverage or reconstruction quality respectively by recording an image in this current recording area.
  • This value can then be presented optically and/or acoustically.
  • Methods for determining such a further value which determine the reconstruction quality of the overall reconstruction volume or its change on the basis of the further recording, are generally known. The user is in this case given the opportunity to detect the extent to which recording an image at the current point in time is sensible or optimal. This can also be done by acoustic encoding.
  • the actual “region of interest” can represent just a subarea of the target volume or the user can establish a subarea for which coverage is particularly bad.
  • an acoustic signal can be output which indicates when the recording area of the image recording device intersects with the target volume or a selected subvolume of the target volume.
  • the user is guided audibly, they are audibly notified whether they are at all located in a position with the image recording device in which they can record a part of the target volume.
  • This type of specific subvolume can for example be marked interactively in a presentation by the user.
  • the acoustic signal specifies whether and if necessary to what extent the subvolume is contained in the recording area of the image recording device.
  • the presentation of the reconstruction quality can be shown together with the reconstruction volume representation, especially in the same orientation and/or overlaid.
  • the presentation of the reconstruction quality, especially the coverage volume can in this case for example be overlaid in another color.
  • the user recognizes immediately which areas of the target volume are of interest and how well these have been detected by the previous images.
  • the method is being executed in real time, they can then activate a position in the target volume, from which they can then record further images of this sub-volume of interest with the image recording device or they can start again with a new series of recorded images.
  • a previously recorded three-dimensional first reconstruction to be registered with the coverage volume and for the first reconstruction or image data derived from this to be shown with the coverage volume, especially in same orientation and/or overlaid.
  • a presentation is possible in a high-resolution anatomy known from a three-dimensional first reconstruction, which, especially with a method executed in real, time, allows precise navigation or determination of the areas still to be recorded or to be better recorded.
  • a first reconstruction presentation which was recorded for example with a magnetic resonance system or a computer tomograph, can be displayed with the presentation of the reconstruction quality from the beginning of a series of recordings, so that it can be observed how the reconstruction volume is filled slowly by the image recordings and the target volume covered.
  • a further increase in the information density of the presentation of the reconstruction quality can be achieved by boundaries representing subareas being shown. It is naturally also possible to draw in the boundaries of each partial area, which is shown by an image.
  • this subvolume of the target volume can be selected and the reconstruction quality can be presented only for this subvolume. If for example only an image of the right chamber of a heart is to be recorded, the target volume can still be the heart, but the subvolume is the right heart chamber. In the final analysis only the relevant information is shown.
  • An ultrasound imaging device can be used as the imaging device, especially in the case of recordings of the human body.
  • Medical equipment and devices, especially catheters, with ultrasound imaging apparatus and also their benefits in the medical engineering field are known.
  • provision can be made to enable users to manipulate the presentation of the reconstruction quality to adapt it to their requirements. It is thus possible to rotate the presentation and to view it from different sides. Users can also adapt presentation options and for example select sections from which a two-dimensional presentation is obtained.
  • FIG. 1 A medical examination device suitable for executing the inventive method
  • FIG. 2 a flowchart of the inventive method
  • FIG. 3 a basic diagram of a one-dimensional coverage volume with grayscale functions depicted
  • FIG. 4 a 3D presentation of the heart with areas covered by images
  • FIG. 5 a basic diagram of a presentation with a first reconstruction or with the reconstruction volume
  • FIG. 6 a diagram of the recording area of the image recording device, of the image recording device and of the last image coverage area recorded in a first reconstruction diagram or the reconstruction volume presentation respectively.
  • FIG. 1 shows a medical examination apparatus 1 .
  • pre-operative images of a patient 3 can be recorded in a computer tomography device (CT device) 2 .
  • CT device computer tomography device
  • the pre-operative images, which show a target volume within the patient 3 can be further processed into a three-dimensional first reconstruction. Specific characteristics or anomalies of hollow organs can however not be detected on computer tomography images.
  • the patient 3 is located on a patient bed 5 .
  • a catheter, 6 with an image recording device, here an ultrasound device, is introduced into the target volume 4 in the patient 3 .
  • the image recording device of the catheter 6 can be controlled via a catheter control device 7 and two-dimensional or three-dimensional images can be recorded inside the patient 3 .
  • a positioning system 8 position and orientation of the catheter 6 within the patient 3 , especially in the target volume 4 , can be determined and transmitted to the catheter control device 7 , where the data can be assigned to a recorded image.
  • the catheter control device 7 as well as the CT device 2 are connected to a processing unit 9 to which a monitor 10 is assigned.
  • a three-dimensional reconstruction volume can be created within the catheter control device 7 or the processing unit 9 which reproduces the target volume 4 .
  • the processing device 9 is also embodied for locally-resolved determination of the reconstruction quality, especially the coverage and to present this.
  • FIG. 2 shows a flowchart of the inventive method.
  • the method is executed in real time.
  • To execute the method it is also of advantage to know how the recording area of the image recording device of the catheter 6 extends as a function of the position and orientation, which means which areas can be seen on the recorded image.
  • the method takes place in the real time environment, which means that it is continuously repeated and the presentation is updated.
  • the images are recorded in parallel in the back-ground.
  • a coverage volume is created, with a voxel of the coverage volume being assigned to each voxel of the reconstruction volume.
  • this is a 1 : 1 assignment.
  • the coverage volume like the reconstruction volume—consists of a set of voxels which are identified by the entry (x, y, z) in a coordinate system and are thus assigned a location in a later image presentation.
  • the content of a voxel corresponds in the reconstruction volume to the reconstructed image information at the location designated by the voxels (x, y, z).
  • the voxel labels (x, y, z) used are the same because of the 1:1 assignment for both the coverage volume and also the reconstruction volume.
  • a voxel (x, y, z) of the reconstruction volume contains the reconstructed, if necessary interpolated picture information
  • the corresponding voxel (x, y, z) of the coverage volume after execution of the method contains a value for the reconstruction quality at this location.
  • the values stored in the coverage volume are then used later for the presentation as a type of image information.
  • the method now involves assigning values to the voxels (x, y, z) of the coverage volume which are designed to reflect the reconstruction quality of the corresponding image data in the voxel (x, y, z) of the reconstruction volume.
  • step S 1 for each recorded image of the image recording device of the catheter 6 the subarea of the target volume 4 covered by the image is determined. This can be undertaken in two ways here. In one the corresponding subarea of the target volume 4 can be defined from the known position and orientation of the image recording device. In the other alternative the respective image is registered with the pre-operative first image data set and its position determined in this way.
  • the determination of covered subareas for each image is to be seen in this exemplary embodiment as determining, for each voxel of the reconstruction volume and thus for each voxel of the coverage volume, whether there is original image information available for the corresponding location in the target volume for this voxel from the image currently being considered which is to be included in the image data.
  • the total of all these voxels which are detected by the image currently being considered forms the subarea covered for this image. All subareas of all images together then form the set of the covered voxels.
  • step S 2 a value is then assigned to each covered voxel of the coverage volume which describes the reconstruction quality at this voxel.
  • the maxima M 13 and M 14 of the functions f 13 and f 14 lie in the voxels 13 or 14 respectively in this case.
  • Functions f 13 and f 14 are Gaussian functions in this case. They decrease monotonously as the distance from voxel 13 increases.
  • Functions f 13 and f 14 have a value for each voxel which is indicated by the control functions F 13 and F 14 . This value lies between 0 and 1. For assignment of a value to a voxel the maximum of the functions F 13 and F 14 is then taken for the respective voxel. It should be pointed out here that there are naturally far more than two functions present with many images. In the three-dimensional the maxima of these functions then also generally do not all lie on one line. In this example however only two functions are referred to since a simpler explanation of the underlying methodology is obtained in this way.
  • voxel 13 in which the maximum M 13 of the function F 13 lies, with the function F 14 having already almost reached 0 at this point. Consequently the value 1 is assigned to the voxel 13 .
  • the value 1, that is the maximum value then also directly designates with this variant the voxels for which original image data is present, i.e. the voxels from the set of voxels covered by an image.
  • the function value of the function F 14 again 1, is selected.
  • An intermediate voxel 15 is considered as a last example.
  • the values of the function F 13 and F 14 both lie between 0 and 1, but the value of function F 14 is greater. This value is selected accordingly here.
  • the selected values are identified in FIG. 3 by “x”.
  • each voxel of the coverage volume is thus assigned a value between 0 and 1.
  • this value shows how near the voxel lies to the closest voxel covered by an image.
  • the value 1 means that this voxel is covered by an image.
  • the proximity to the original image data also determines the quality of the interpolation, that is of the reconstruction.
  • step S 3 again referring to FIG. 2 , the coverage volume is then displayed. If the recording of the images is declared to be finished, the method also ends. Otherwise, as soon as a new image has been recorded, the values in the coverage volume are updated.
  • FIG. 4 shows an option for three-dimensional presentation of the coverage volume together with a heart 16 reconstructed from a pre-operative first image data set.
  • the subareas covered by these images are overlaid at 17 as transparent presentation of the coverage of the reconstruction of the heart 16 .
  • To create such a presentation it is sufficient to assign a fixed value to each voxel of the coverage volume covered by an image, for example the value 1, and to assign another value, for example the value 0, to each voxel of the coverage volume not covered by an image. For each voxel a check is then made as to whether it is covered, meaning whether the value assigned to it is 1.
  • FIG. 4 can be rotated, meaning that it can be viewed from all sides. This means that a user can recognize immediately the places at which images are already recorded or the areas which have not been adequately covered thus far. In addition part views can be selected or cross sections can be viewed.
  • the catheter 6 is shown with an image recording device, of which the position and orientation are obtained by the positioning system 8 . The presentation is refreshed in real time, so that the user can always see where there are already recordings, which areas are to be recorded in greater detail, and where the image recording device is located or the position to which it must be moved respectively.
  • FIG. 5 shows a basic diagram for presenting the reconstruction quality together with a first reconstruction or the reconstruction volume, as it has been reconstructed previously.
  • a pre-operative reconstruction 18 or the reconstruction volume are overlaid in this case with the coverage volume 19 into a presentation 20 .
  • the dark area 21 in the coverage volume in this diagram means an excellent reconstruction quality.
  • the gray area 22 represents areas of average reconstruction quality not covered by images.
  • the white areas 23 are areas not covered by images in which reconstruction quality is bad.
  • FIG. 6 finally shows a presentation of the recording area of the image recording device, of the image recording device and of the subarea of the last recorded image in a first reconstruction of the reconstruction volume respectively.
  • the information relating to the reconstruction quality is not shown in order to simplify the diagram, but normally this is also overlaid.
  • the diagram again shows the heart 16 , with the catheter 6 inside it.
  • the overlaid rectangular solid 24 represents the instantaneous recording area of the image recording device of the catheter 6 . If an image is now recorded, this would cover the area marked by the rectangular solid 24 .
  • the rectangular solid 25 which is shown in another color, represents the subarea of the target volume covered by the last image. Also shown is the locally-resolved information for reconstruction quality -not included in the diagram to improve clarity.
  • the areas of the target volume which have not yet been recorded can be recognized for example and the catheter 6 or the recording area visualized by the rectangular shape 24 can be oriented so that these areas are recorded. It can then be seen from rectangular shape 25 whether the image is lying correctly.

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